Initial thoughts for classes that should help Akul with his tasking

Author: LucasEby

GEMstack/onboard/perception/AgentTracker.py

@@ -0,0 +1,35 @@
+# assigns pedestrians the same id 
+# calculates velocity
+
+class AgentTracker():
+    """Associates and tracks AgentState agents.
+    """
+    def __init__(self):
+        self.__lost_agents = []     # Stores LostAgent objects that are no longer detected
+        self.prev_agents = []       # dict{id: agent} is more efficient, but list for
+        self.current_agents = []    # simplicity to match update() output to start
+        self.drop_agent_t: float = 1.0     # The maximum length of time a lost agent is stored before it is dropped in seconds
+    
+    def assign_ids(self, agents: list) -> Dict[str,AgentState]:
+        """ 
+        """
+        agents = {}
+    
+    def __convert_to_start_frame(self):
+        """Converts a list of AgentState agents from ouster Lidar frame of 
+        reference (which is in reference to the current frame) to start 
+        frame frame of reference
+        """
+        pass
+        
+    def __agents_overlap(ped1, ped2) -> bool:
+        """Determines if two AgentState objects overlap.
+        
+        returns true if they overlap, false if not
+        """
+        pass
+
+    def __calculate_velocity(self):
+        """
+        """
+        pass

GEMstack/onboard/perception/IdTracker.py

@@ -0,0 +1,12 @@
+class IdTracker():
+    """Abstracts out id tracking
+    """
+    def __init__(self):
+        self.__ped_id = 0
+
+    def get_new_ped_id() -> int:
+        """Returns a unique pedestrian id
+        """
+        assigned_id = self.__id
+        self.__ped_id += 1 # id will intentionally overflow to get back to 0
+        return assigned_id

GEMstack/onboard/perception/LostAgent.py

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+# something to store current id
+# that current id will intentionally overflow to increment back down to 0
+
+# GEM imports:
+from ...state import AgentState
+
+class LostAgent():
+    def __init__(self, last_id: int, last_state: AgentState):
+        self.time_since_seen: float = 0.0 # Time since the agent was last seen in seconds
+        self.last_id: int = last_id
+        self.last_state: AgentState = last_state
+
+    def update_time(time: float):
+        """Updates the time since the agent was last seen
+        """
+        if time <= 0:
+            # TODO: log error here
+            print("UPDATE TIME FOR LOST AGENT WAS LESS THAN OR EQUAL TO 0")
+        else:
+            self.time_since_seen += time